Oh, my experience with off road on my rig. uh... NO. I wouldn't even want to drive it on a wash board gravel road. It's just not set up for that with the weight. Paved primary and secondary roads, a few miles down a dirt or gravel road, but not boonie camping, like say, Death Valley exploring stuff.
As far as duallies go. I took several off road for work related issues. They would pick up rocks between the tires and tear up the side walls. Anything rocky, and you risk doing the same. I had to have a spotter drive behind keeping an eye out picked up rocks so I wouldn't blow a tire.
If I were serious about wanting something to go off the beaten trail; dirt roads to remote camping areas, I'd get a pop up. You WILL tear a Lance 855S apart within a few years rocking and rolling it on dirt or off highway. These are very tall campers. On my truck it's over 11 feet tall. Not many off road, woods places that I wouldn't worry about trees and such. As it is, I take a pruner when I go camping just in case.